RK. Jain 0 S.RK. lyengar Advanced Engineering Mathematics @ Alpha Science International Ltd. Pangbourne EnglandRK. Jain Professor SIRK. Iyengar Professor and Former Head Department of Mathematics Indian Institute of Technology New Delhi 110016, India ‘Copyright © 2002 ‘ipa Science Intemational Lid. PO. Box 067, Pangbourne ROB SUT, UK. [Alright eserved. No prt ofthis publication may be reproduced, stored ina retrieval system ‘or transmitted in any form or by any means, electronic, mechanical, photocopying recording oF ‘therwise, without the prior writen permission of the publishers. ISBN 1-84265.086-6 Printed in IniaTo Our Parents Bhagat Ram Jain and Sampati Devi Jain & S.TV. Raghavacharya and Rajya Lakshmi whose memories had always been an inspirationPreface ‘This book is based on the experience and the lecture notes ofthe authors while teaching mathematics courses to engineering students at the Indian Institute of Technology, Delhi for more than three decades. A number of available textbooks have been a source of inspiration for introduction of ‘concepts and formulation of problems. We are thankful to the authors of these books for their indirect help. “This comprehensive textbook covers syllabus for two courses in Mathematics for engineering students in various Institutes, Universities and Engineering Colleges. Theemphasisis onthe presen- tation of the fundamentals and theoretical concepts in an intelligible and easy to understand manner. Each chapter in the book has been carefully planned to make it an effective tool to arouse interest in the study and application of mathematics to solve engineering and scientific problems. Simple and illustrative examples are used to explain each theoretical concept. Graded sets of examples and exercises are given in each chapter, which will help the students to understand cevery important concept. The book contains 682 solved examples and 2984 problems in the exercises. Answers to every problem and hints for difficult problems are given at the end of each chapter which will motivate the students for self-learning. While some problems emphasize the theoretical concepts, others provide enough practice and generate confidence to use these concepts in problem solving. This textbook offers a logical and lucid presentation of both the theory and problem solving techniques so that the student is not lost in unnecessary details. ‘We hope that this textbook will meet the requirements and the expectations of all the engineering. students. ‘We will gratefully receive and acknowledge every comment, suggestions for inclusion/exclusion of topics and errors in the book, both from the faculty and the students. We are grateful to our former teachers, colleagues and well wishers for their encouragement and valuable suggestions. We are also thankful to our students for their feed back. We are grateful to the authorities of IIT Delhi for providing us their support. ‘We extend our thanks to the editorial and the production staff of M/s Narosa Publishing House, in particular Mr. Mohinder Singh Sejwal, for their care and enthusiasm in the preparation of this book. Last, but not the least, we owe a lot to our family members, in particular, our wives Vinod Jain and Seetha Lakshmi whose encouragement and support had always been inspiring and rejuvenating. ‘We appreciate their patience during our long hours of work day and night. New Del RK. Jay October 2001 S.R.K. IveNcarContents Preface Functions of a Real Variable 1.1 Introduction 7 1.2. Limits, Continuity and Differentiability 7 12.1 Limit ofa Function 1 122 Continuity of a Function 3 1.23 Derivative of @ Function 5 1.3. Application of Derivatives and Taylor's Series 10 1.3.1 Differentials and Approximations 10 132 Mean Value Theorems 1 133 Indeterminate Forms 14 134 Increasing and Decreasing Functions 15 135° Maximum and Minimum Values of a Function 17 13.6 Taylor's Theorem and Taylor's Series 19 1.4 Integration and its Applications 26 14.1 Indefinite Integrals 26 142 Definite Integrals 26 143 Atea of a Bounded Region 28 144 Arc Length of a Plane Curve 32 14.5 Volume of Solid 33 14.6 Surface Area of @ Solid of Revolution 40 1.5 Improper Integrals. 45 1.5.1 Improper Integrals of the First Kind 45 1.5.2 Improper Integrals of the Second Kind 49 1553 Absolute Convergence of Improper Integrals 54 L544 Beta and Gamma Functions 56 1.5.5 Improper Inegrals Involving a Parameter 63 1.6 Answers and Hints 69 Functions of Several Real Variables 2.1 Introduction 76 2.2 Functions of Two Variables 76 22.1 Limits 79 22.2 Continuity 82 2.3 Partial Derivatives 87 23.1 Total Differential and Derivatives 92 23.2 Approximation by Toial Differentials 97 76X_Contents 23.3 Derivatives of Composite and Implicit Functions 99 2.4 Higher Order Partial Derivatives 107 24.1 Homogeneous Functions 110 24.2 Taylor's Theorem 1/3 2.5 Maximum and Minimum Values of Functions 127 25.1 _ Lagrange Method of Multipliers 126 2.6 Multiple Integrals 130 26.1 Double Integrals 130 262 Triple Integrals 140 2.63 Change of Variables in Integrals 143 2.7, Answers and Hints 150 3. Matrices and Figenvatue Problems 157 3.1 Introduction 157 3.2 Matrices 157 3.2.1 Matrix Algebra 159 322 Some Special Matrices 61 323. Determinants 163 3.24 Inverse of a Square Matrix 168 32.5 Solution of n xn Linear System of Equations 170 3.3. Vector Spaces 177 33.1 Subspaces 180 332 Linear Independence of Vectors 183 333. Dimension and Basis 185 334 Linear Transformations 188 3.4 Solution of General Linear System of Equations 199 3.41 Existence and Uniqueness ofthe Solution 200 3.42 Elementary Row and Column Operations 207 343 Echelon Form of a Matrix 202 3.44 Gauss Elimination Method for Non-homogeneous Systems 205 345 Homogeneous System of Linear Equations 209 3.46 Gauss Jordan Method to Find the Inverse of a Matrix. 2/0 3.5. Eigenvalue Problems 2/3 35.1 Eigenvalues and Eigenvectors 214 35:2. Similar and Diagonalissble Matrices 222 3.5.3 Special Matrices 228 354 Quadratic Forms 232 3.6 Answers and Hints 238 Ordinary Differential Equations of First Order 247 4.1 Introduction 247 4.2 Formation of Differential Equations 248 43 Solution of a Differential Equation 249 4.4 Initial and Boundary Value Problems 251 4.5 Solution of Equations in Separable Form 253, 45.1 Equations Reducible to Separable Form 256 4.6 Exact First Order Differential Equations 26/ 46.1 Inegrating Factors 2646. 1. 47 48 49 Contents xi Linear First Order Equations 277 ‘Some Special First Order Equations 275 48.1 Bernoulli Equation 275 482 Riccati Equation 277 483° Clairaut’s Equation 278 Orthogonal Trajectories of a Given Family of Curves 280 4.10 Existence and Uniqueness of Solutions 285 4.10.1. Picard’s eration Method of Solution 289 4.11 Answers and Hints 292 Linear Differential Equations 300 Sa 52 53 34 35 56 7 Introduction 300 Solution of Linear Differential Equations 30/ 5.2.1 Linear Independence and Dependence 303 Methods for Solution of Linear Equations 308 53.1 Differential Operator D308 53.2 Solution of Second Order Linear Homogencous Equations with Constant Coefficients 3/0 5.13 Method of Reduction of Order for Variable Coefficient Linear Homogeneous Second Order Equations 3/5 53.4 Solution of Higher Order Homogeneous Linear Eq with Constant Coefficients 3/8 Solution of Non-homogeneous Linear Equations 324 54.1 Method of Variation of Parameters 326 542 Method of Undetermined Coefficients 331 54.3 Solution of Euler-Cauchy Equation 336 Operator Methods for Finding Particular Integrals 343 S51 Case r(x) = 0% 34d 55.2 Case r(x) = 00s (cx) or sin (ax ) 348 55.3 Caser(x)= 4% a> Oand Integer 351 Simultaneous Linear Equations 354 56.1 Solution of First Order Systems by Matrix Method 357 562. Method of Undetermined Coefficients to Find Particular Integral 361 563 Method of Disgonalisation to Find Particular Integral 364 ‘Answers and Hints 367 Series Solution of Differential Equations 377 61 6.2 63 64 65 Introduction 377 Ordinary and Singular Points of an Equation 377 Power Series Solution 380 Series Solution about a Regular Singular Point: Frobenius Method 397 Answers and Hints 404 Legendre Polynomials, Bessel Functions and Sturm-Liouville Problem 410 7A 72 Introduction 410 Legendre Differential Equation and Legendre Polynomials 410Contents 73 74 18 721 Rodrigue’s Formula 4/2 72.2 Generating Function for Legendre Polynomials 414 7.2.3 Recurrence Relations for Legendre Polynomials 475 724 Orthogonal and Orthonormal Functions. 417 7.2.5 Orthogonal Property of Legendre Polynomials 420 7.2.6 Fourier-Legendie Series 421 Bessel's Differential Equation and Bessel’s Functions 424 7.3.1 Besse’s Function ofthe Fist Kind 429 7.32. Bessel’s Function of the Second Kind 435 Sturm-Liouville Problem 447 74.1 Orthogonality of Bessel Functions 447 74.2 Fourier-Bessel Series 450 Answers and Hints 454 Laplace Transformation 459 81 82 83 84 85 86 87 88 Introduction 459 Basic Theory of Laplace Transforms 459 Laplace Transform Solution of Initial Value Problems 465 83.1 Laplace Transforms of Derivatives 465 83.2 Laplace Transforms of Integrals 469 Translation Theorems (Shifting Theorems) 472 8.41 Heaviside Funetion or Unit Sep Function 475 Laplace Transform of Dirac-delta Function and More Properties of Laplace Transforms 483 85.1 Laplace Transform of Dirac-delta Function 483 85.2 Differentiation of Laplace Transform 186 85.3 Integration of Laplace Transform | 490 85.4 Convolution Theorem 492 Laplace Transform of Periodic Functions 497 Laplace Transform Method for the Solution of Some Partial Differential Equations 503 Answers and Hints 519 Fourier Series, Fourier Integrals and Fourier Transforms 529 94 9.2 93 94 95 Introduction 529 Fourier series 529 9.2.1 Fourier Series of Even and Odd Functions 535 922 Convergence of Fourier Series 537 Fourier Half-range Series S44 9.3.1 Complex Form of Fourier Series S46 Fourier Integrals 549 Application of Fourier Series: Separation of Variables Solution of Linear Partial Differential Equations 557 9.5.1 Classification of Linear Second Order Putal Differential Equations 557 9.5.2. Separation of Variables Method (Fourier Method) 559 9.5.3 Fourier Series Solution of the Heat Equation 560 9.5.4 Fourier Series Solution of the Wave Equation 566 9.5.5 Fourier Series Solution ofthe Laplace Equation 576Contents _xiti 9.6 Fourier Transforms 582 9.6.1 Fourier Transform Solution of Some Partial Differential Equations S95 9.7 Answers and Hints 607 10. Functions of a Complex Variable: Analytic Functions ou 10.1 Introduction 6/7 10.2 Complex Number System 611 10.2.1. Algebra of Complex Numbers 612 1022 Polar Form of a Complex Number 6/3 10.2.3 Powers und Roots of a Complex Number 615 10.3 Sets of Points in the Complex Plane 622 10.4 Functions of a Complex Variable 625 10.5 Elementary Functions 632 105.1 Exponential function 632 105.2 Trigonometic and Hyperbolic Functions 634 105.3 Logarithm Function 639 105.4 General Powers of Functions 647 1055 Inverse Taigonometric and Hyperbolic Functions 642 10.6 Limits and Continuity 646 10.6.1 Limit ofa Function 646 10.62 Continuity of a Function 652 106.3 Uniform Continuity 655 10.7 Differentiability and Analyticity 658 107.1. Cauchy-Riemann Equations. 662 10.8 Harmonic Functions 675 10.9 Answers and Hints 680 11. Integration of Complex functions 692 11.1 Introduction 692 11.2 Definite Integrals 692 11.211 Curves in the Complex Plane 694 11.22 Contour Inegrals (Line Integrals in the Complex Plane) 697 11.3 Cauchy Integral Theorem 717 1131 Extension of Cauehy Integral Theorem for Multiply Connected Domains 718 11.32 Use of Indefinite Integels in the Evaluation of Line Integrals 723 11.4 Cauchy Integral Formula 727 11.5 Cauchy Integral Formula for Derivatives 734 11.6 Answers and Hints 747 12. Power Series, Taylor and Laurent Series 747 12.1 Introduction 747 12.2 Infinite Sequences 747 122.1 Real Sequences 747 122.2 Complex Sequences 752 122.3. Sequences of Functions 755 1224 Uniform Convergence 757Contents 2B. 4. 15. 12.3 Infinite Series 759 123.1 Tests for Convergence 761 12.3.2. Uniform Convergence for Series of Functions 766 12.4 Power Series 768 12.5 Taylor Series 774 12.6 Laurent Series 783 12.7 Answers and Hints 793 Zeros, Singularities and Residues 802 13.1 Introduction 802 13.2 Zeros and Singularities of Complex Functions 802 13.3 Residues 817 13.4 Evaluation of Contour Integrals Using Residues 879 13.5 Evaluation of Real Integrals Using Residues 824 13.5.1. Real Definite Integrals Involving Trigonometrc Functions 824 1352 Improper Inegrals of the Form [ f(xjdx 828 13.53. Improper Integrals of the Form Jlesten sends or F sinter fonds 34 13.54 Improper Integrals with Singular Points on the Real Axis 838 13.6 Answers and Hints 849 Bilinear Transformations and Conformal Mapping 858 14.1 Introduction 858 14.2 Linear and Inverse Transformations 858 14.2.1 Linear Transformation 858 142.2 Inverse Transformation 864 14.3 Bilinear Transformations 871 14.4 Conformal Mapping 885 14.5 Answers and Hints 897 Vector Differential and Integral Calculus 896 15.1 Introduction 896 15.2 Parametric Representations, Continuity and Differentiability of Vector Functions 897 15.2.1. Motion of a Body or a Particle on a Curve 903 15.3 Gradient of a Scalar Field and Directional Derivative 905 15.4 Divergence and Curl of a Vector Field 9/3 15.5 Line Integrals and Green’s Theorem 920 15.5.1 Line Inegrals Independent ofthe Path 925 15.52 Green's Theorem 929 15.6 Surface Area and Surface Integrals 937 156.1 Surface Area 937 15.62 Surface imegrals 942Contents xv 15.7 Divergence Theorem of Gauss and Stokes's Theorem 951 IS.71.1 Divergence Theorem of Gauss 957 157.2. Stokes's Theorem 958 15.8 Answers and Hints 966 ‘Some RereReNce TexrBooxs 975 Ivpex. 7